+++ /dev/null
-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2000, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistribution's of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistribution's in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-
-#include "_cvaux.h"
-
-#include "cvtypes.h"
-#include <float.h>
-#include <limits.h>
-#include "cv.h"
-
-/* Valery Mosyagin */
-
-typedef void (*pointer_LMJac)( const CvMat* src, CvMat* dst );
-typedef void (*pointer_LMFunc)( const CvMat* src, CvMat* dst );
-
-void cvLevenbergMarquardtOptimization(pointer_LMJac JacobianFunction,
- pointer_LMFunc function,
- /*pointer_Err error_function,*/
- CvMat *X0,CvMat *observRes,CvMat *resultX,
- int maxIter,double epsilon);
-
-void icvReconstructPointsFor3View( CvMat* projMatr1,CvMat* projMatr2,CvMat* projMatr3,
- CvMat* projPoints1,CvMat* projPoints2,CvMat* projPoints3,
- CvMat* points4D);
-
-
-/* Jacobian computation for trifocal case */
-void icvJacobianFunction_ProjTrifocal(const CvMat *vectX,CvMat *Jacobian)
-{
- CV_FUNCNAME( "icvJacobianFunction_ProjTrifocal" );
- __BEGIN__;
-
- /* Test data for errors */
- if( vectX == 0 || Jacobian == 0 )
- {
- CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
- }
-
- if( !CV_IS_MAT(vectX) || !CV_IS_MAT(Jacobian) )
- {
- CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
- }
-
- int numPoints;
- numPoints = (vectX->rows - 36)/4;
-
- if( numPoints < 1 )//!!! Need to correct this minimal number of points
- {
- CV_ERROR( CV_StsUnmatchedSizes, "number of points must be more than 0" );
- }
-
- if( Jacobian->rows == numPoints*6 || Jacobian->cols != 36+numPoints*4 )
- {
- CV_ERROR( CV_StsUnmatchedSizes, "Size of Jacobian is not correct it must be 6*numPoints x (36+numPoints*4)" );
- }
-
- /* Computed Jacobian in a given point */
- /* This is for function with 3 projection matrices */
- /* vector X consists of projection matrices and points3D */
- /* each 3D points has X,Y,Z,W */
- /* each projection matrices has 3x4 coeffs */
- /* For N points 4D we have Jacobian 2N x (12*3+4N) */
-
- /* Will store derivates as */
- /* Fill Jacobian matrix */
- int currProjPoint;
- int currMatr;
-
- cvZero(Jacobian);
- for( currMatr = 0; currMatr < 3; currMatr++ )
- {
- double p[12];
- for( int i=0;i<12;i++ )
- {
- p[i] = cvmGet(vectX,currMatr*12+i,0);
- }
-
- int currVal = 36;
- for( currProjPoint = 0; currProjPoint < numPoints; currProjPoint++ )
- {
- /* Compute */
- double X[4];
- X[0] = cvmGet(vectX,currVal++,0);
- X[1] = cvmGet(vectX,currVal++,0);
- X[2] = cvmGet(vectX,currVal++,0);
- X[3] = cvmGet(vectX,currVal++,0);
-
- double piX[3];
- piX[0] = X[0]*p[0] + X[1]*p[1] + X[2]*p[2] + X[3]*p[3];
- piX[1] = X[0]*p[4] + X[1]*p[5] + X[2]*p[6] + X[3]*p[7];
- piX[2] = X[0]*p[8] + X[1]*p[9] + X[2]*p[10] + X[3]*p[11];
-
- int i,j;
- /* fill derivate by point */
-
- double tmp3 = 1/(piX[2]*piX[2]);
-
- double tmp1 = -piX[0]*tmp3;
- double tmp2 = -piX[1]*tmp3;
- for( j = 0; j < 2; j++ )//for x and y
- {
- for( i = 0; i < 4; i++ )// for X,Y,Z,W
- {
- cvmSet( Jacobian,
- currMatr*numPoints*2+currProjPoint*2+j, 36+currProjPoint*4+i,
- (p[j*4+i]*piX[2]-p[8+i]*piX[j]) * tmp3 );
- }
- }
- /* fill derivate by projection matrix */
- for( i = 0; i < 4; i++ )
- {
- /* derivate for x */
- cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2,currMatr*12+i,X[i]/piX[2]);//x' p1i
- cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2,currMatr*12+8+i,X[i]*tmp1);//x' p3i
-
- /* derivate for y */
- cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2+1,currMatr*12+4+i,X[i]/piX[2]);//y' p2i
- cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2+1,currMatr*12+8+i,X[i]*tmp2);//y' p3i
- }
-
- }
- }
-
- __END__;
- return;
-}
-
-void icvFunc_ProjTrifocal(const CvMat *vectX, CvMat *resFunc)
-{
- /* Computes function in a given point */
- /* Computers project points using 3 projection matrices and points 3D */
-
- /* vector X consists of projection matrices and points3D */
- /* each projection matrices has 3x4 coeffs */
- /* each 3D points has X,Y,Z,W(?) */
-
- /* result of function is projection of N 3D points using 3 projection matrices */
- /* projected points store as (projection by matrix P1),(projection by matrix P2),(projection by matrix P3) */
- /* each projection is x1,y1,x2,y2,x3,y3,x4,y4 */
-
- /* Compute projection of points */
-
- /* Fill projection matrices */
-
- CV_FUNCNAME( "icvFunc_ProjTrifocal" );
- __BEGIN__;
-
- /* Test data for errors */
- if( vectX == 0 || resFunc == 0 )
- {
- CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
- }
-
- if( !CV_IS_MAT(vectX) || !CV_IS_MAT(resFunc) )
- {
- CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
- }
-
- int numPoints;
- numPoints = (vectX->rows - 36)/4;
-
- if( numPoints < 1 )//!!! Need to correct this minimal number of points
- {
- CV_ERROR( CV_StsUnmatchedSizes, "number of points must be more than 0" );
- }
-
- if( resFunc->rows == 2*numPoints*3 || resFunc->cols != 1 )
- {
- CV_ERROR( CV_StsUnmatchedSizes, "Size of resFunc is not correct it must be 2*numPoints*3 x 1");
- }
-
-
- CvMat projMatrs[3];
- double projMatrs_dat[36];
- projMatrs[0] = cvMat(3,4,CV_64F,projMatrs_dat);
- projMatrs[1] = cvMat(3,4,CV_64F,projMatrs_dat+12);
- projMatrs[2] = cvMat(3,4,CV_64F,projMatrs_dat+24);
-
- CvMat point3D;
- double point3D_dat[3];
- point3D = cvMat(3,1,CV_64F,point3D_dat);
-
- int currMatr;
- int currV;
- int i,j;
-
- currV=0;
- for( currMatr = 0; currMatr < 3; currMatr++ )
- {
- for( i = 0; i < 3; i++ )
- {
- for( j = 0;j < 4; j++ )
- {
- double val = cvmGet(vectX,currV,0);
- cvmSet(&projMatrs[currMatr],i,j,val);
- currV++;
- }
- }
- }
-
- /* Project points */
- int currPoint;
- CvMat point4D;
- double point4D_dat[4];
- point4D = cvMat(4,1,CV_64F,point4D_dat);
- for( currPoint = 0; currPoint < numPoints; currPoint++ )
- {
- /* get curr point */
- point4D_dat[0] = cvmGet(vectX,currV++,0);
- point4D_dat[1] = cvmGet(vectX,currV++,0);
- point4D_dat[2] = cvmGet(vectX,currV++,0);
- point4D_dat[3] = cvmGet(vectX,currV++,0);
-
- for( currMatr = 0; currMatr < 3; currMatr++ )
- {
- /* Compute projection for current point */
- cvmMul(&projMatrs[currMatr],&point4D,&point3D);
- double z = point3D_dat[2];
- cvmSet(resFunc,currMatr*numPoints*2 + currPoint*2, 0,point3D_dat[0]/z);
- cvmSet(resFunc,currMatr*numPoints*2 + currPoint*2+1,0,point3D_dat[1]/z);
- }
- }
-
- __END__;
- return;
-}
-
-
-/*----------------------------------------------------------------------------------------*/
-
-void icvOptimizeProjectionTrifocal(CvMat **projMatrs,CvMat **projPoints,
- CvMat **resultProjMatrs, CvMat *resultPoints4D)
-{
-
- CvMat *optimX = 0;
- CvMat *points4D = 0;
- CvMat *vectorX0 = 0;
- CvMat *observRes = 0;
- //CvMat *error = 0;
-
- CV_FUNCNAME( "icvOptimizeProjectionTrifocal" );
- __BEGIN__;
-
- /* Test data for errors */
- if( projMatrs == 0 || projPoints == 0 || resultProjMatrs == 0 || resultPoints4D == 0)
- {
- CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
- }
-
- if( !CV_IS_MAT(resultPoints4D) )
- {
- CV_ERROR( CV_StsUnsupportedFormat, "resultPoints4D must be a matrix" );
- }
-
- int numPoints;
- numPoints = resultPoints4D->cols;
- if( numPoints < 1 )
- {
- CV_ERROR( CV_StsOutOfRange, "Number points of resultPoints4D must be more than 0" );
- }
-
- if( resultPoints4D->rows != 4 )
- {
- CV_ERROR( CV_StsUnmatchedSizes, "Number of coordinates of points4D must be 4" );
- }
-
- int i;
- for( i = 0; i < 3; i++ )
- {
- if( projMatrs[i] == 0 )
- {
- CV_ERROR( CV_StsNullPtr, "Some of projMatrs is a NULL pointer" );
- }
-
- if( projPoints[i] == 0 )
- {
- CV_ERROR( CV_StsNullPtr, "Some of projPoints is a NULL pointer" );
- }
-
- if( resultProjMatrs[i] == 0 )
- {
- CV_ERROR( CV_StsNullPtr, "Some of resultProjMatrs is a NULL pointer" );
- }
-
- /* ----------- test for matrix ------------- */
- if( !CV_IS_MAT(projMatrs[i]) )
- {
- CV_ERROR( CV_StsUnsupportedFormat, "Each of projMatrs must be a matrix" );
- }
-
- if( !CV_IS_MAT(projPoints[i]) )
- {
- CV_ERROR( CV_StsUnsupportedFormat, "Each of projPoints must be a matrix" );
- }
-
- if( !CV_IS_MAT(resultProjMatrs[i]) )
- {
- CV_ERROR( CV_StsUnsupportedFormat, "Each of resultProjMatrs must be a matrix" );
- }
-
- /* ------------- Test sizes --------------- */
- if( projMatrs[i]->rows != 3 || projMatrs[i]->cols != 4 )
- {
- CV_ERROR( CV_StsUnmatchedSizes, "Size of projMatr must be 3x4" );
- }
-
- if( projPoints[i]->rows != 2 || projPoints[i]->cols != numPoints )
- {
- CV_ERROR( CV_StsUnmatchedSizes, "Size of resultProjMatrs must be 3x4" );
- }
-
- if( resultProjMatrs[i]->rows != 3 || resultProjMatrs[i]->cols != 4 )
- {
- CV_ERROR( CV_StsUnmatchedSizes, "Size of resultProjMatrs must be 3x4" );
- }
- }
-
-
- /* Allocate memory for points 4D */
- CV_CALL( points4D = cvCreateMat(4,numPoints,CV_64F) );
- CV_CALL( vectorX0 = cvCreateMat(36 + numPoints*4,1,CV_64F) );
- CV_CALL( observRes = cvCreateMat(2*numPoints*3,1,CV_64F) );
- CV_CALL( optimX = cvCreateMat(36+numPoints*4,1,CV_64F) );
- //CV_CALL( error = cvCreateMat(numPoints*2*3,1,CV_64F) );
-
-
- /* Reconstruct points 4D using projected points and projection matrices */
- icvReconstructPointsFor3View( projMatrs[0],projMatrs[1],projMatrs[2],
- projPoints[0],projPoints[1],projPoints[2],
- points4D);
-
-
-
- /* Fill observed points on images */
- /* result of function is projection of N 3D points using 3 projection matrices */
- /* projected points store as (projection by matrix P1),(projection by matrix P2),(projection by matrix P3) */
- /* each projection is x1,y1,x2,y2,x3,y3,x4,y4 */
- int currMatr;
- for( currMatr = 0; currMatr < 3; currMatr++ )
- {
- for( i = 0; i < numPoints; i++ )
- {
- cvmSet(observRes,currMatr*numPoints*2+i*2 ,0,cvmGet(projPoints[currMatr],0,i) );/* x */
- cvmSet(observRes,currMatr*numPoints*2+i*2+1,0,cvmGet(projPoints[currMatr],1,i) );/* y */
- }
- }
-
- /* Fill with projection matrices */
- for( currMatr = 0; currMatr < 3; currMatr++ )
- {
- int i;
- for( i = 0; i < 12; i++ )
- {
- cvmSet(vectorX0,currMatr*12+i,0,cvmGet(projMatrs[currMatr],i/4,i%4));
- }
- }
-
- /* Fill with 4D points */
-
- int currPoint;
- for( currPoint = 0; currPoint < numPoints; currPoint++ )
- {
- cvmSet(vectorX0,36 + currPoint*4 + 0,0,cvmGet(points4D,0,currPoint));
- cvmSet(vectorX0,36 + currPoint*4 + 1,0,cvmGet(points4D,1,currPoint));
- cvmSet(vectorX0,36 + currPoint*4 + 2,0,cvmGet(points4D,2,currPoint));
- cvmSet(vectorX0,36 + currPoint*4 + 3,0,cvmGet(points4D,3,currPoint));
- }
-
-
- /* Allocate memory for result */
- cvLevenbergMarquardtOptimization( icvJacobianFunction_ProjTrifocal, icvFunc_ProjTrifocal,
- vectorX0,observRes,optimX,100,1e-6);
-
- /* Copy results */
- for( currMatr = 0; currMatr < 3; currMatr++ )
- {
- /* Copy projection matrices */
- for(int i=0;i<12;i++)
- {
- cvmSet(resultProjMatrs[currMatr],i/4,i%4,cvmGet(optimX,currMatr*12+i,0));
- }
- }
-
- /* Copy 4D points */
- for( currPoint = 0; currPoint < numPoints; currPoint++ )
- {
- cvmSet(resultPoints4D,0,currPoint,cvmGet(optimX,36 + currPoint*4,0));
- cvmSet(resultPoints4D,1,currPoint,cvmGet(optimX,36 + currPoint*4+1,0));
- cvmSet(resultPoints4D,2,currPoint,cvmGet(optimX,36 + currPoint*4+2,0));
- cvmSet(resultPoints4D,3,currPoint,cvmGet(optimX,36 + currPoint*4+3,0));
- }
-
- __END__;
-
- /* Free allocated memory */
- cvReleaseMat(&optimX);
- cvReleaseMat(&points4D);
- cvReleaseMat(&vectorX0);
- cvReleaseMat(&observRes);
-
- return;
-
-
-}
-
-/*------------------------------------------------------------------------------*/
-/* Create good points using status information */
-void icvCreateGoodPoints(CvMat *points,CvMat **goodPoints, CvMat *status)
-{
- *goodPoints = 0;
-
- CV_FUNCNAME( "icvCreateGoodPoints" );
- __BEGIN__;
-
- int numPoints;
- numPoints = points->cols;
-
- if( numPoints < 1 )
- {
- CV_ERROR( CV_StsOutOfRange, "Number of points must be more than 0" );
- }
-
- int numCoord;
- numCoord = points->rows;
- if( numCoord < 1 )
- {
- CV_ERROR( CV_StsOutOfRange, "Number of points coordinates must be more than 0" );
- }
-
- /* Define number of good points */
- int goodNum;
- int i,j;
-
- goodNum = 0;
- for( i = 0; i < numPoints; i++)
- {
- if( cvmGet(status,0,i) > 0 )
- goodNum++;
- }
-
- /* Allocate memory for good points */
- CV_CALL( *goodPoints = cvCreateMat(numCoord,goodNum,CV_64F) );
-
- for( i = 0; i < numCoord; i++ )
- {
- int currPoint = 0;
- for( j = 0; j < numPoints; j++)
- {
- if( cvmGet(status,0,j) > 0 )
- {
- cvmSet(*goodPoints,i,currPoint,cvmGet(points,i,j));
- currPoint++;
- }
- }
- }
- __END__;
- return;
-}
-
projects / opencv / blobdiff